mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 12:00:34 +08:00
Daniel Agar
130 lines
4.7 KiB
C++
130 lines
4.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Test the mag fusion
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*/
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#include <gtest/gtest.h>
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#include "EKF/ekf.h"
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#include "sensor_simulator/sensor_simulator.h"
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#include "sensor_simulator/ekf_wrapper.h"
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#include "test_helper/reset_logging_checker.h"
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class EkfMagTest : public ::testing::Test
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{
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public:
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EkfMagTest(): ::testing::Test(),
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_ekf{std::make_shared<Ekf>()},
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_sensor_simulator(_ekf),
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_ekf_wrapper(_ekf) {};
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std::shared_ptr<Ekf> _ekf;
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SensorSimulator _sensor_simulator;
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EkfWrapper _ekf_wrapper;
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// Setup the Ekf with synthetic measurements
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void SetUp() override
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{
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// run briefly to init, then manually set in air and at rest (default for a real vehicle)
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_ekf->init(0);
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_sensor_simulator.runSeconds(0.1);
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_ekf->set_in_air_status(false);
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_ekf->set_vehicle_at_rest(true);
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}
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const uint32_t _init_duration_s{6};
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};
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TEST_F(EkfMagTest, fusionStartWithReset)
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{
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// GIVEN: some meaningful mag data
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const float mag_heading = M_PI_F / 3.f;
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const Vector3f mag_data(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), 0.4f);
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_sensor_simulator._mag.setData(mag_data);
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const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
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_sensor_simulator.runSeconds(_init_duration_s);
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// THEN: the fusion initializes using the mag data and runs normally
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EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(1.f));
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EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
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EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
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EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
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}
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TEST_F(EkfMagTest, noInitLargeStrength)
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{
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// GIVEN: a really large magnetic field
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_ekf_wrapper.enableMagStrengthCheck();
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const Vector3f mag_data(1.f, 1.f, 1.f);
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_sensor_simulator._mag.setData(mag_data);
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const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
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_sensor_simulator.runSeconds(_init_duration_s);
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// THEN: the fusion shouldn't start
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EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion());
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EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
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EXPECT_EQ(0, (int) _ekf->control_status_flags().yaw_align);
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EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter);
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}
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TEST_F(EkfMagTest, suddenLargeStrength)
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{
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_ekf_wrapper.enableMagStrengthCheck();
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// GIVEN: some meaningful mag data
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const float mag_heading = -M_PI_F / 7.f;
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Vector3f mag_data(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), 0.4f);
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_sensor_simulator._mag.setData(mag_data);
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_sensor_simulator.runSeconds(_init_duration_s);
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// THEN: the fusion initializes using the mag data and runs normally
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EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(1.f));
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EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
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EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
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// BUT WHEN: the mag field norm is suddenly too large
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mag_data *= 5.f;
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_sensor_simulator._mag.setData(mag_data);
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_sensor_simulator.runSeconds(6.f);
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// THEN: the mag fusion should stop after some time
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EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion());
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EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
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}
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